Hi SkycaptainJosheh, welcome to CDFreaks!
It depends on whether you want to just create a new ISO image file with a UDF filesystem from a number of files on a CD, or whether you already have the CD saved as an ISO image file with an ISO 9660 filesystem.
You can change the format of the image file by using e.g. UltraISO which is Shareware (approx. $40).
You can create a new image in UDF format and save it as an ISO file or burn directly to a CD by using the "build mode" in ImgBurn which is Freeware.
It's also possible to create a new image in UDF format by using Nero and burn it directly to disc or "burn" it to the "Image Recorder" which allows you to save it as an ISO or NRG image file.